They're definitely able to be used interchangeably. I definitely agree with what Elayna said but I'd also add that if I was handing something directly to someone, I would say 'Here you go', but if I was putting something for someone down on the table or nearby etc, I'd say 'There you go'. Hope that helps! :)

"Here you go" is used when giving an object to someone. "There you go" is used when completing something someone asked you to do. They can be used the same, but it is more common for them to be used these ways.